公开(公告)号：US5936638A

公开(公告)日：1999-08-10

申请号：US970981

申请日：1997-11-14

申请人： Jessica Hodgins ,  Joseph Marks ,  Brian Mirtich

发明人： Jessica Hodgins ,  Joseph Marks ,  Brian Mirtich

IPC分类号： H04N5/262 ,  G06T13/40 ,  G06F15/00

CPC分类号： G06T13/40

摘要： A system generates and arranges animation sequences of articulated characs for review and selection by a user. Motion of articulated characters is based upon input parameters, such as torques at joints of the character. The system can be used to select appropriate parameters to obtain desirable motion of the articulated characters. The system generates a set of input vectors containing parameters of the motion. The input parameters are then processed to determine animation sequences and corresponding output vectors. The output vectors include characteristics of the motion. The input vectors are selected to provide a dispersed set of output vectors. A large number of random input vectors can be generated and then culled to leave a dispersed set of output vectors. Alternatively, a set of randomly generated input vectors of a predetermined size are randomly perturbed, to further disperse the output vectors. The system includes an interface for representing the output vectors and animation sequences in a manner which is easily reviewable by a user. The output vectors are displayed so that positions represent distances between the output vectors. The user can then select specific output vectors so that the corresponding animation sequence is displayed.

摘要翻译： 系统生成并排列用于用户查看和选择的关键字符的动画序列。 铰接字符的运动基于输入参数，例如角色关节处的扭矩。 该系统可用于选择适当的参数以获得铰接字符的期望运动。 系统生成一组包含运动参数的输入向量。 然后处理输入参数以确定动画序列和相应的输出向量。 输出矢量包括运动的特征。 输入向量被选择以提供一组分散的输出向量。 可以生成大量的随机输入向量，然后被剔除以留下分散的一组输出向量。 或者，随机扰动一组预定尺寸的随机生成的输入向量，以进一步分散输出向量。 该系统包括用于以用户容易回顾的方式来表示输出向量和动画序列的接口。 显示输出向量，使得位置表示输出向量之间的距离。 然后，用户可以选择特定的输出向量，使得显示相应的动画序列。

公开(公告)号：US08947441B2

公开(公告)日：2015-02-03

申请号：US12802298

申请日：2010-06-02

申请人： Jessica Hodgins ,  Ronit Slyper

发明人： Jessica Hodgins ,  Ronit Slyper

IPC分类号： G06T13/00 ,  G06T13/40

CPC分类号： G06T13/40

摘要： There is provided a system and method for database driven action capture. By utilizing low cost, lightweight MEMS devices such as accelerometers, a user friendly, wearable, and cost effective system for motion capture is provided, which relies on a motion database of previously recorded motions to reconstruct the actions of a user. By relying on the motion database, calculation errors such as integration drift are avoided and the need for complex and expensive positional compensation hardware is avoided. The accelerometers may be implemented in an E-textile embodiment using inexpensive off-the-shelf components. In some embodiments, compression techniques may be used to accelerate linear best match searching against the motion database. Adjacent selected motions may also be blended together for improved reconstruction results and visual rendering quality. Various perceivable effects may be triggered in response to the reconstructed motion, such as animating a 3D avatar, playing sounds, or operating a motor.

摘要翻译： 提供了一种用于数据库驱动的动作捕获的系统和方法。 通过利用低成本，提供轻量级MEMS装置，例如加速度计，用户友好的，可穿戴的和具有成本效益的用于运动捕获的系统，其依赖于先前记录的运动的运动数据库来重建用户的动作。 通过依靠运动数据库，避免了积分漂移等计算错误，避免了对复杂而昂贵的位置补偿硬件的需求。 加速度计可以使用廉价的现成组件在E纺织实施例中实现。 在一些实施例中，可以使用压缩技术来加速针对运动数据库的线性最佳匹配搜索。 相邻的选定运动也可以混合在一起以改善重建结果和视觉渲染质量。 可以响应于重建的运动而触发各种可感知的效果，诸如动画化3D化身，播放声音或操作电动机。

公开(公告)号：US20080071507A1

公开(公告)日：2008-03-20

申请号：US11772731

申请日：2007-07-02

申请人： Jessica Hodgins ,  Sang Park

发明人： Jessica Hodgins ,  Sang Park

IPC分类号： G06G7/60

CPC分类号： G01S5/16

摘要： A method for a computer system includes receiving global positional data associated with a set of markers from a plurality of markers associated with a surface of an object at one or more time instances, wherein global positional data associated with a first marker from the plurality of markers is absent from a first time instance, using local statistical methods to determine global positional data associated with the first marker at the first time instance in response to the global positional data associated with the set of markers at the one or more time instances, and determining a model of the object in response to the global positional data associated with the set of markers and the global positional data associated with the first marker.

摘要翻译： 一种用于计算机系统的方法包括在一个或多个时间实例处从与对象表面相关联的多个标记中接收与一组标记相关联的全局位置数据，其中与来自多个标记的第一标记相关联的全局位置数据 在第一时间实例中不存在，使用本地统计方法来响应于在所述一个或多个时间实例处与所述标记集合相关联的全局位置数据来确定在第一时间实例处与第一标记相关联的全局位置数据，并且确定 响应于与标记集合相关联的全局位置数据和与第一标记相关联的全局位置数据的对象的模型。

公开(公告)号：US20100309209A1

公开(公告)日：2010-12-09

申请号：US12802298

申请日：2010-06-02

申请人： Jessica Hodgins ,  Ronit Slyper

发明人： Jessica Hodgins ,  Ronit Slyper

IPC分类号： G06T15/70 ,  G08B21/00

CPC分类号： G06T13/40

摘要： There is provided a system and method for database driven action capture. By utilizing low cost, lightweight MEMS devices such as accelerometers, a user friendly, wearable, and cost effective system for motion capture is provided, which relies on a motion database of previously recorded motions to reconstruct the actions of a user. By relying on the motion database, calculation errors such as integration drift are avoided and the need for complex and expensive positional compensation hardware is avoided. The accelerometers may be implemented in an E-textile embodiment using inexpensive off-the-shelf components. In some embodiments, compression techniques may be used to accelerate linear best match searching against the motion database. Adjacent selected motions may also be blended together for improved reconstruction results and visual rendering quality. Various perceivable effects may be triggered in response to the reconstructed motion, such as animating a 3D avatar, playing sounds, or operating a motor.

摘要翻译： 提供了一种用于数据库驱动的动作捕获的系统和方法。 通过利用低成本，提供轻量级MEMS装置，例如加速度计，用户友好的，可穿戴的和具有成本效益的用于运动捕获的系统，其依赖于先前记录的运动的运动数据库来重建用户的动作。 通过依靠运动数据库，避免了积分漂移等计算错误，避免了对复杂而昂贵的位置补偿硬件的需求。 加速度计可以使用廉价的现成组件在E纺织实施例中实现。 在一些实施例中，可以使用压缩技术来加速针对运动数据库的线性最佳匹配搜索。 相邻的选定运动也可以混合在一起以改善重建结果和视觉渲染质量。 可以响应于重建的运动而触发各种可感知的效果，诸如动画化3D化身，播放声音或操作电动机。

公开(公告)号：US09156159B2

公开(公告)日：2015-10-13

申请号：US13415605

申请日：2012-03-08

申请人： Jessica Hodgins ,  Katsu Yamane ,  Yu Zheng

发明人： Jessica Hodgins ,  Katsu Yamane ,  Yu Zheng

IPC分类号： G06F19/00 ,  B25J9/00 ,  B62D57/032 ,  B62D57/02 ,  G05B15/00 ,  B25J13/08

CPC分类号： B25J9/00 ,  B25J13/085 ,  B25J13/088 ,  B62D57/02 ,  B62D57/032 ,  G05B15/00

摘要： Techniques are disclosed for optimizing and maintaining cyclic biped locomotion of a robot on an object. The approach includes simulating trajectories of the robot in contact with the object. During each trajectory, the robot maintains balance on the object, while using the object for locomotion. The approach further includes determining, based on the simulated trajectories, an initial state of a cyclic gait of the robot such that the simulated trajectory of the robot starting from the initial state substantially returns to the initial state at an end of one cycle of the cyclic gait. In addition, the approach includes sending joint angles and joint velocities of the initial state to a set of joint controllers of the robot to cause a leg of the robot to achieve the initial state so the robot moves through one or more cycles of the cyclic gait.

摘要翻译： 公开了用于优化和维持机器人在物体上的循环双足运动的技术。 该方法包括模拟与物体接触的机器人的轨迹。 在每个轨迹期间，机器人在使用对象进行移动时，保持物体上的平衡。 该方法还包括基于模拟轨迹确定机器人的循环步态的初始状态，使得从初始状态开始的机器人的模拟轨迹在循环的一个循环的结尾基本上返回到初始状态 步态。 此外，该方法包括将初始状态的关节角度和关节速度发送到机器人的一组联合控制器，以使机器人的腿部达到初始状态，使得机器人通过循环步态的一个或多个循环 。